Add asset kitchen_supplies/storage/85a077f86d465b3db922fe5120cbbcd7

.gitattributes

@@ -7128,3 +7128,4 @@ dataset/kitchen_supplies/storage/7d3b8a897a1755c0b022d038261897c1/affordance/mes
 dataset/kitchen_supplies/storage/8071e096b00d5bceb0e058d2aaa779e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/8097bfe5c68b5e39a803192e0d8612f3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/837fa2b414075a5ab9e3b27bd0f63db8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/85a077f86d465b3db922fe5120cbbcd7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/85a077f86d465b3db922fe5120cbbcd7/affordance/affordance_annot.json

@@ -0,0 +1,80 @@
+{
+    "affordances": [
+        {
+            "part_name": "top panel",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite edges of the top panel to lift or reposition the small drawer cabinet",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the top panel to stabilize the cabinet while another gripper opens a drawer",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "provide a top surface",
+                "cover the cabinet frame",
+                "support light items",
+                "stabilize the structure"
+            ],
+            "semantic_description": "Flat off-white to light beige wooden top panel with a matte smooth finish, slightly rounded edges, and a slightly overhanging rectangular shape positioned on the top of the small cabinet.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls of the cabinet body to pick up or move the drawer unit",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while opening or closing the drawer",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "support the drawer",
+                "enclose the drawer cavity",
+                "provide structural frame",
+                "stabilize the furniture"
+            ],
+            "semantic_description": "Boxy off-white to beige wooden cabinet body with a matte finish, paneled sides, and small rounded feet forming the main outer structure around the drawer opening.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer assembly",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed drawer sides or front edges to pull the drawer farther out",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "grasp the drawer assembly to remove or reinsert it during handling",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "store items",
+                "slide in and out",
+                "provide a container compartment",
+                "enable access to contents"
+            ],
+            "semantic_description": "Open drawer assembly consisting of a brown wooden drawer interior with smooth flat surfaces and an off-white front face, visible protruding from the cabinet on metal slides.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/storage/85a077f86d465b3db922fe5120cbbcd7/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16438c5aa6f5410fe3608cb77bf923ef65b5f9a1a181e80a747981c794fe0c54
+size 3786856

dataset/kitchen_supplies/storage/85a077f86d465b3db922fe5120cbbcd7/drawer_009.urdf

@@ -57,6 +57,7 @@
                <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
             </geometry>
          </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
       </affordance>
       <quality>
          <PartSegChecker>NO: {"summary":"Drawer front is merged with cabinet body; handle and legs are unlabeled or missing, not fixable by merging.","merge_groups":[]}</PartSegChecker>